Invention content
Goal of the invention：
For the problem of being adjusted to the state of vehicle in the case of different speeds and spacing is mentioned in background technology, originallyInvention provides a kind of automated driving system based on speed and distance.
Technical solution：
A kind of automated driving system based on speed and distance, including：Control unit for vehicle, positioning system, communication system, are also wrappedIt includes：Distance detection system, control processor；
Distance detection system is set to the surrounding of vehicle, for detecting vehicle at a distance from surrounding object, and is converted into eachThe distance value in direction is exported to control processor；
Positioning system obtains the real time position of vehicle and obtains the real-time speed of vehicle, and the two is exported to control processor；
Communication system is connect with control processor, and communication system is also connect with cloud server, and control processor passes through communication systemSystem is communicated with cloud server；
Control unit for vehicle is connect with control processor for controlling vehicle, if to receive control processor defeated for itThe control signal gone out then executes corresponding operating according to control signal.
As a kind of preferred embodiment of the present invention, if speed is less than the first pre-set velocity value threshold value, control process in real timeDevice obtain vehicle's surroundings distance value, if the distance value of surrounding is below the first pre-determined distance value threshold value, control processor toControl unit for vehicle output follows signal, and according to following, signal controls vehicle to control unit for vehicle and front vehicles holding first is pre-If distance value threshold value.
As a kind of preferred embodiment of the present invention, if speed is higher than the first pre-set velocity value threshold value, control process in real timeDevice obtains the distance value of vehicle's surroundings, if the distance value of surrounding has one to be less than the first pre-determined distance value threshold value, control processDevice exports reduce-speed sign to control unit for vehicle, and control unit for vehicle drives vehicle deceleration according to reduce-speed sign.
As a kind of preferred embodiment of the present invention, if front distance value is less than the first pre-determined distance value threshold value, at controlIt manages device and obtains current real-time speed, if current speed in real time is higher than the second pre-set velocity value threshold value, control processor is to vehicleControl unit exports reduce-speed sign, and control unit for vehicle drives vehicle deceleration according to reduce-speed sign.
As a kind of preferred embodiment of the present invention, control processor further includes memory module, and speed is stored in memory moduleDegree distance proportioning table；Speed is stored with the corresponding distance value of real-time speed in proportioning table.
As a kind of preferred embodiment of the present invention, control processor is according to speed distance proportioning table to real-time speed and distanceValue is controlled.
As a kind of preferred embodiment of the present invention, the comparison that speed preferentially carries out velocity amplitude in proportioning table obtains the speedThe corresponding distance value of angle value.
As a kind of preferred embodiment of the present invention, if front distance is respectively less than the first pre-determined distance value threshold with rear distanceValue, then control processor does not export reduce-speed sign.
As a kind of preferred embodiment of the present invention, if left side distance value and/or right side distance value are less than second distance value thresholdIt is worth, then control processor exports reduce-speed sign to control unit for vehicle.
The present invention realizes following advantageous effect：
1. detecting the distance value of the real-time speed and surrounding of vehicle, the real-time status of vehicle is confirmed, and according to the real-time shape of vehicleState is adjusted vehicle；
2. the preset speed distance proportioning table of setting, controls vehicle apart from proportioning table and real-time speed in conjunction with speed；
3. a pair both sides vehicle is detected, and is accordingly controlled this vehicle.
Embodiment one
With reference to figure 1, Fig. 1 is a kind of system block diagram of the automated driving system based on speed and distance provided by the invention.
Specifically, a kind of automated driving system based on speed and distance, including：Control unit for vehicle 1, positioning system 2,Communication system 3 further includes：Distance detection system 4, control processor 4.
Distance detection system 4 is set to the surrounding of vehicle, for detecting vehicle at a distance from surrounding object, and is convertedIt is exported to control processor 4 for the distance value of all directions.Distance detection system 4 can be made of several range sensors, differenceIt is set to the surrounding of vehicle（Front, rear, left and right）, for detecting vehicle's surroundings at a distance from barrier, the barrier may includeThe movement such as wall, vehicle, pedestrian, animal or non-moving object.Ultrasonic wave, infrared ray, laser etc. can be used in distance detection system 4Distance measuring method carries out ranging.Distance detection system 4 is connect with control processor 4, and to control process after detecting distance valueThe output of device 4 front distance value, rear distance value, left side distance value, right side distance value etc., control processor 4 obtains front distanceValue, rear distance value, left side distance value, right side distance value simultaneously make subsequent operation according to these data.
Positioning system 2 obtains the real time position of vehicle and obtains the real-time speed of vehicle, and by the two to control processor 4Output.Positioning system 2 may include that GPS positioning system 2 and dipper system, positioning system 2 obtain the position of vehicle in real time.PositioningSystem 2 can also change the real-time speed for obtaining vehicle according to the real time position of vehicle.Positioning system 2 is connect with control processor 4,Positioning system 2 exports real-time positioning and the real-time speed of vehicle of vehicle to control processor 4.
Control unit for vehicle 1 is connect, if it is received at control for controlling vehicle with control processor 4The control signal that device 4 exports is managed, then corresponding operating is executed according to control signal.It is defeated that control unit for vehicle 1 receives control processor 4The control signal gone out, controls vehicle.In the present embodiment, as an implementation, control processor 4 can be to vehicleControl unit 1 exports traffic route, then control unit for vehicle 1 will control vehicle operation according to stroke route.In this embodiment, it controlsProcessor 4 processed can export acceleration signals, reduce-speed sign, turn signal, stop signal etc., vehicle control to control unit for vehicle 1Unit 1 controls vehicle according to control signal accordingly.
Communication system 3 is connect with control processor 4, and communication system 3 is also connect with cloud server 5, and control processor 4 is logicalCommunication system 3 is crossed to communicate with cloud server 5.Communication system 3 can be that wireless communication system 3, satellite communication system 3 etc. are non-Wired communication mode, communication system 3 connect cloud server 5 and control processor 4.Control processor 4 passes through communication system 3It is communicated with cloud server 5.If control processor 4, to 3 output signal of communication system, communication system 3 is by the signal to high in the cloudsServer 5 exports, if cloud server 5 need to be to 4 feedback information of control processor, cloud server 5 is to corresponding communication systemIt unites 3 output informations, communication system 3 exports the information to control processor 4.
Preferably, if in real time speed be less than the first pre-set velocity value threshold value, control processor 4 obtain vehicle's surroundings away fromFrom value, if the distance value of surrounding is below the first pre-determined distance value threshold value, control processor 4 is exported to control unit for vehicle 1Signal is followed, signal controls vehicle to control unit for vehicle 1 and front vehicles keep the first pre-determined distance value threshold value according to following.It is fixedPosition system 2 exports real-time speed to control processor 4.First pre-set velocity value threshold value may be configured as 10-100km/h, at thisIt may be configured as 20km/h in embodiment, if speed is less than the first pre-set velocity value threshold value in real time, control processor 4 obtains vehicleFront distance value, rear distance value, left side distance value, right side distance value.First pre-determined distance value threshold value may be configured as 0.2-20m specifically may be configured as 10m.If real-time speed value less than First Speed value threshold value and have distance value it is default less than first away fromFrom value threshold value, then control processor 4 follows signal to the output of control unit for vehicle 1, and control unit for vehicle 1 is according to following signal controlCurrent vehicle processed is kept with front vehicles at a distance from the first pre-determined distance value threshold value.
Preferably, if in real time speed be higher than the first pre-set velocity value threshold value, control processor 4 obtain vehicle's surroundings away fromFrom value, if the distance value of surrounding has one to be less than the first pre-determined distance value threshold value, control processor 4 is to control unit for vehicle 1Reduce-speed sign is exported, control unit for vehicle 1 drives vehicle deceleration according to reduce-speed sign.First pre-set velocity value threshold value may be configured as10-100km/h may be configured as 20km/h in the present embodiment, if speed is higher than the first pre-set velocity value threshold value in real time, controlProcessor 4 obtains front distance value, rear distance value, left side distance value, the right side distance value of vehicle.First pre-determined distance value thresholdValue may be configured as 0.2-20m, specifically may be configured as 10m.If higher than First Speed value threshold value and having distance value in real-time speed valueLess than the first pre-determined distance value threshold value, then control processor 4 exports reduce-speed sign, control unit for vehicle 1 to control unit for vehicle 1Current vehicle is controlled according to reduce-speed sign to slow down.
Preferably, if front distance value is less than the first pre-determined distance value threshold value, control processor 4 obtains current real-time vehicleSpeed, if current speed in real time is higher than the second pre-set velocity value threshold value, control processor 4 is exported to control unit for vehicle 1 to slow downSignal, control unit for vehicle 1 drive vehicle deceleration according to reduce-speed sign.First pre-determined distance value threshold value may be configured as 0.2-20m,10m specifically is may be configured as, if front distance value is less than the first pre-determined distance value threshold value, control processor 4 obtains current vehicleReal-time speed.Second pre-set velocity value threshold value may be configured as 10-200km/h in the present embodiment, specifically may be configured as40km/h, if speed is higher than the second pre-set velocity value threshold value in real time, control processor 4 is exported to control unit for vehicle 1 to slow downSignal.
Preferably, control processor 4 further includes memory module 7, and speed is stored in memory module 7 apart from proportioning table.SpeedDegree is stored with the corresponding distance value of real-time speed in proportioning table.There is velocity amplitude and therewith in the speed proportioning table respectivelyCorresponding distance value.
Preferably, control processor 4 controls real-time speed with distance value apart from proportioning table according to speed.At controlReason device 4 controls vehicle apart from proportioning table according to speed, as an embodiment of the present embodiment, control processor 4The real-time speed of vehicle is obtained, and the corresponding distance value of the real-time speed, control processor 4 are obtained apart from proportioning table according to speedThe vehicle that vehicle and front are controlled according to the distance value is kept at a distance from the distance value.If specifically, real-time speed be 40km/h,Corresponding distance value is 20m in speed distance proportioning table, then control processor 4 obtains current front distance value, if frontDistance value is less than the distance value, then control processor 4 exports reduce-speed sign to control unit for vehicle 1, to control spacing, if frontDistance is higher than the distance value, then control processor 4 exports acceleration signals to control unit for vehicle 1, shortens the vehicle and front truckSpacing.As an embodiment of the present embodiment, control processor 4 obtains the distance value of vehicle, and is matched according to speed distanceThe corresponding velocity amplitude of the distance value is obtained than table, control processor 4 controls the speed of vehicle according to the velocity amplitude.
Preferably, speed preferentially carries out the comparison of velocity amplitude in proportioning table and obtains the corresponding distance value of the velocity amplitude.The comparison of velocity amplitude is preferentially carried out in practical applications.
Preferably, if front distance is respectively less than the first pre-determined distance value threshold value with rear distance, control processor 4 is not defeatedGo out reduce-speed sign.If front-and-rear vehicle distance is respectively less than the first pre-determined distance value threshold value, control processor 4 will control vehicle and keep currentSpeed,
Preferably, if left side distance value and/or right side distance value are less than second distance value threshold value, control processor 4 is to vehicleControl unit 1 exports reduce-speed sign.If thering is the spacing on left side and/or right side to be less than the second pre-determined distance value threshold value, at controlIt manages device 4 and controls vehicle deceleration.Second pre-determined distance value threshold value may be configured as 0.2-5m, may be configured as 3m in the present embodiment.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical fieldArt personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All basesEquivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.